Stepan Dergachev
Papers
1
Total Citations
10
H-Index
1
About
Stepan Dergachev is a robotics researcher whose work focuses on enabling autonomous navigation in complex, uneven terrains—a critical challenge for field robotics. His key contributions lie in developing integrated navigation systems that combine 2.5D mapping, path planning, and robust local control. In his most cited work, Dergachev proposed a complete navigation pipeline for differential drive robots operating in uneven environments, leveraging elevation mapping for terrain understanding and Model Predictive Path Integral (MPPI) control for safe, real-time path following with obstacle avoidance. This work, published in 2022, has already garnered 10 citations, reflecting its relevance to the growing field of off-road autonomy. Dergachev’s research addresses the gap between flat-ground navigation and the demands of real-world deployment, making his approaches valuable for applications in agriculture, search-and-rescue, and planetary exploration. By bridging perception, planning, and control, he contributes to making robots more capable and reliable in unstructured environments—a vital step toward practical autonomous systems.
Research Focus
Key Achievements
Top Papers
- 1